US20160250756A1 - Gripping device for a co-handling robot, and co-handling robot equipped with such a device - Google Patents

Gripping device for a co-handling robot, and co-handling robot equipped with such a device Download PDF

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Publication number
US20160250756A1
US20160250756A1 US15/030,187 US201415030187A US2016250756A1 US 20160250756 A1 US20160250756 A1 US 20160250756A1 US 201415030187 A US201415030187 A US 201415030187A US 2016250756 A1 US2016250756 A1 US 2016250756A1
Authority
US
United States
Prior art keywords
pick
contact switch
contact
depressed position
detachment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US15/030,187
Other languages
English (en)
Inventor
Frederic Colledani
Benoit PEROCHON
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Assigned to COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES reassignment COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: COLLEDANI, FREDERIC, PEROCHON, BENOIT
Publication of US20160250756A1 publication Critical patent/US20160250756A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/02—Manipulators positioned in space by hand articulated or flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0212—Circular shape

Definitions

  • the invention relates to a gripping device for a co-handling robot and a co-handling robot equipped with such a device.
  • co-handling robots also called cobots or force assistance machines, which can be used to assist operators in various tasks.
  • cobots force assistance machines
  • These co-handling robots have proved useful, in particular, for helping operators to handle heavy loads or to handle lighter loads in a rapid and repetitive manner.
  • Such a co-handling robot includes, for example, a gripping device comprising a pick-up member intended to come into contact with an object to be handled and means for controlling the attachment and detachment of the pick-up member and the object to be handled, the control means being associated with a contact switch capable of generating a control signal for the attachment and detachment, to be sent to the control means when the contact switch is activated.
  • a gripping device comprising a pick-up member intended to come into contact with an object to be handled and means for controlling the attachment and detachment of the pick-up member and the object to be handled
  • the control means being associated with a contact switch capable of generating a control signal for the attachment and detachment, to be sent to the control means when the contact switch is activated.
  • the contact switch is usually a button or a lever mounted on a handle for the manipulation of the pick-up member.
  • the operator in order to attach the pick-up member and the object to one another, the operator must make the pick-up member approach the object. When the pick-up member is in contact with the object, the operator can then activate the contact switch. Similarly, in order to detach the pick-up member and the object from one another, the operator must place the object on a support. When the object is in contact with the support, the operator can then activate the contact switch.
  • One object of the invention is to propose a gripping device for a co-handling robot by means of which an object to be handled by said gripping device can be grasped and/or released more easily, preferably while reducing the mental load of the operator.
  • a gripping device for a co-handling robot comprising a pick-up member, intended to come into contact with an object to be handled, and means for controlling the attachment and detachment of the pick-up member and the object to be handled, the control means being associated with a contact switch capable of generating a control signal for attachment and/or detachment, to be sent to the control means when the contact switch is activated.
  • the pick-up member is mounted slidably in the device between a non-depressed position and a depressed position, the contact switch being positioned in the device so as to be activated by the pick-up member when the pick-up member is in the depressed position, the pick-up member being kept in a non-depressed position when the object is suspended on the pick-up member.
  • the operator can exclusively control the pick-up member and its position facing the object or facing a support on which the object rests, or on which the object is to be deposited. This is because, by pressing the pick-up member onto the object and/or by pressing the object onto the support, the operator automatically causes the pick-up member to move from its non-depressed position to its depressed position, and therefore causes a control signal for attachment and/or detachment to be sent via the contact switch.
  • the attachment and/or the detachment of the pick-up member and the object to or from one another is thus simple and rapid.
  • the control of the pick-up member is therefore intuitive and particularly user-friendly.
  • a co-handling robot comprising a gripping device according to the invention is also proposed.
  • FIG. 1 is a schematic view of a co-handling robot comprising a gripping device according to the invention
  • FIG. 2 shows the gripping device of FIG. 1 when the pick-up member is in the non-depressed position
  • FIG. 3 shows the gripping device of FIG. 2 when the pick-up member is in the depressed position.
  • the co-handling robot 1 here comprises an articulated arm 2 , whose first end 3 is fixed, while its second end 4 is joined to a gripping device 5 according to the invention.
  • the gripping device 5 comprises a handle 6 enabling an operator to move the gripping device 5 by means of the articulated arm 2 .
  • the gripping device 5 here comprises a body 7 in which a chamber 8 is formed.
  • the body 7 also comprises an aperture 9 extending in a direction X through the body 7 between the chamber 8 and the outside of the body 7 .
  • the device further comprises a pick-up member 10 intended to come into contact with an object 100 to be handled, the object 100 here resting on a support 101 .
  • the pick-up member 10 comprises a suction cup 11 intended to come into contact with the object 100 and a rod 12 , of which one end 12 a is connected to the suction cup and the other end 12 b is free.
  • the suction cup 11 is of the magnetic type; that is to say, the suction cup 11 comprises means for generating a magnetic field, which, when the suction cup 11 is activated, generate a magnetic field enabling the object 100 to be attached to the suction cup 11 .
  • the pick-up member 10 is arranged in the gripping device in such a way that the rod 12 is mounted slidably in the aperture 9 between a non-depressed position (as shown in FIG. 2 ) and a depressed position (as shown in FIG. 3 ).
  • the pick-up member 10 comprises a first stop defining the non-depressed position of the pick-up member.
  • the rod 12 comprises a shoulder 13 interacting with a wall of the chamber 8 , to stop the travel of the rod 12 through the aperture 9 and thus define the non-depressed position.
  • the pick-up member 10 is shaped so that, in a non-depressed position, the free end 12 b of the rod 12 is positioned in the chamber 8 and the suction cup 11 is positioned outside the body 7 .
  • the pick-up member 10 further comprises a second stop for defining the depressed position of the pick-up member 10 .
  • the suction cup 11 comprises a flat surface 14 opposite the surface of the suction cup intended to come into contact with the object 100 , the flat surface 14 having an area greater than a cross section of the aperture 9 . The flat surface thus interacts with a wall of the body 7 , to stop the travel of the rod 12 through the aperture 9 and thus define the depressed position.
  • the device further comprises means (not shown here) for controlling the attachment and detachment of the pick-up member 10 and the object 100 .
  • the control means control the activation of the suction cup 11 , thereby allowing the generation of the magnetic field to be controlled.
  • the device comprises a contact switch 16 which is associated with the control means and which is capable of generating a control signal for the attachment and detachment, to be sent to the control means when the contact switch is activated.
  • the contact switch 16 is positioned in the device so as to interact with the pick-up member 10 when the pick-up member 10 is in the depressed position to enable a control signal to be generated at the control means.
  • the contact switch 16 is a push button having a first stable position in which the push button is pushed in and a second stable position in which the push button protrudes.
  • the contact switch 16 is configured in such a way that the change from the second stable position to the first stable position causes a control signal for attachment to be transmitted to the control means, and in such a way that the change from the first stable position to the second stable position causes a control signal for detachment to be transmitted to the control means.
  • the contact switch 16 is positioned in the chamber 8 , on a wall of the chamber 8 opposite the wall on which the aperture 9 opens, so that, when the pick-up member 10 is in the depressed position, the free end 12 b of the rod 12 is in contact with the contact switch 16 .
  • the operator When the operator wishes to attach the object 100 to the pick-up member 10 , he manipulates the gripping device 5 so as to cause the suction cup 11 to be deposited on the object 100 resting on the support 101 , thereby causing a movement of the rod 12 and consequently a movement of the pick-up member 10 from the non-depressed position to the depressed position.
  • the free end 12 b of the rod 12 then comes to bear on the contact switch 16 , and, in turn, causes the contact switch 16 to move from its second stable position to its first stable position.
  • the activation of the contact switch 16 causes a control signal for attachment to be transmitted to the control means.
  • the control means then control the activation of the suction cup 11 so that it becomes activated: the magnetic field which is generated enables the object 100 to be attached to the suction cup 11 .
  • the operator can then move the object 100 with the aid of the co-handling robot 1 .
  • the operator When the operator wishes to detach the object 100 from the pick-up member 10 , he handles the gripping device 5 so as to cause the object 100 to be deposited on the support 101 , thereby causing a movement of the rod 12 and consequently a movement of the pick-up member 10 from the non-depressed position to the depressed position.
  • the free end 12 b of the rod 12 then comes to bear on the contact switch 16 , and, in turn, causes the contact switch 16 to move from its first stable position to its second stable position.
  • the activation of the contact switch 16 causes a control signal for detachment to be transmitted to the control means.
  • the control means then control the activation of the suction cup 11 so that it ceases to be activated. In the absence of the magnetic field, the object 100 is detached from the suction cup 11 .
  • the operator can then move the gripping device 5 on its own, with the aid of the co-handling robot 1 .
  • a new gripping cycle can then commence.
  • the gripping device 5 allows simple and rapid handling of the object by the operator.
  • the second stop advantageously prevents the rod 12 from bearing too strongly on the contact switch 16 , which could damage the latter.
  • the pick-up member may be different from that described.
  • the pick-up member comprises a suction cup of a magnetic type
  • the suction cup may be of a pneumatic type.
  • the pick-up member may also comprise an electromagnet.
  • the pick-up member may comprise a gripper for gripping an object, in which case the control means control the opening and closing of the gripper to cause the detachment and attachment, respectively, of the gripper and the object.
  • the stops may have a different shape from that described.
  • the rod may comprise a groove in which an elastic ring is placed to form the stop.
  • the stop may be carried by the body instead of by the rod.
  • the interaction of the contact switch and the pick-up member is used to control both the attachment and the detachment of the pick-up member and the object, said interaction may be used to control only the attachment, or only the detachment.
  • the control signal for detachment or attachment, respectively will be generated by an external control, for example by a lever or a switch, controlled manually by the operator.
  • the contact switch may be different from that described.
  • the contact switch may have a different number of stable positions, and in particular a single stable position.
  • the device may also comprise means for checking the attachment and/or detachment of the object and the pick-up member.
  • the checking means may comprise a pressure sensor or a pressure switch which is positioned in the cavity of the suction cup to determine whether the object is actually attached to the suction cup.
  • the checking means may also comprise a feeler positioned on the pick-up member so that it can come into contact with the object and determine whether the object is actually attached to the suction cup.
  • the pick-up member may comprise return means, comprising a spring for example, to bring the pick-up member back from its depressed position to its non-depressed position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
US15/030,187 2013-11-14 2014-11-06 Gripping device for a co-handling robot, and co-handling robot equipped with such a device Abandoned US20160250756A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1361135 2013-11-14
FR1361135A FR3012990B1 (fr) 2013-11-14 2013-11-14 Dispositif de prehension pour robot co-manipulateur et robot co-manipulateur equipe d'un tel dispositif.
PCT/EP2014/073897 WO2015071161A1 (fr) 2013-11-14 2014-11-06 Dispositif de prehension pour robot co-manipulateur et robot co-manipulateur equipe d'un tel dispositif

Publications (1)

Publication Number Publication Date
US20160250756A1 true US20160250756A1 (en) 2016-09-01

Family

ID=50179696

Family Applications (1)

Application Number Title Priority Date Filing Date
US15/030,187 Abandoned US20160250756A1 (en) 2013-11-14 2014-11-06 Gripping device for a co-handling robot, and co-handling robot equipped with such a device

Country Status (5)

Country Link
US (1) US20160250756A1 (ja)
EP (1) EP3068589A1 (ja)
JP (1) JP2016536153A (ja)
FR (1) FR3012990B1 (ja)
WO (1) WO2015071161A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109465812A (zh) * 2018-11-26 2019-03-15 广东工业大学 一种磁性物体和非磁性物体分堆机械臂以及控制方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5583590A (en) * 1978-12-12 1980-06-24 Fuji Electric Co Ltd Handling device
JPS55112787A (en) * 1979-02-16 1980-08-30 Fuji Electric Co Ltd Handling device
US4557659A (en) * 1982-09-14 1985-12-10 M. Scaglia S.P.A. Device for supporting and handling loads by means of vacuum operated suction pads
CA1246121A (en) * 1984-11-15 1988-12-06 Westinghouse Electric Corporation Robotic end effector
JPS61172907U (ja) * 1985-04-15 1986-10-27
JPH0537485U (ja) * 1991-10-17 1993-05-21 コパル電子株式会社 吸着パツド
JP4508263B2 (ja) * 2008-04-24 2010-07-21 トヨタ自動車株式会社 パワーアシスト装置およびその制御方法
DE102009010694A1 (de) * 2009-02-26 2010-09-02 Audi Ag Greiferanordnung, Greifer und Verfahren zum Aufnehmen eines Gegenstands
FR2943652B1 (fr) * 2009-03-31 2016-04-15 Sapelem Dispositif de manutention equipe d'un prehenseur de charge et de moyens de commande d'activation et de desactivation dudit prehenseur

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109465812A (zh) * 2018-11-26 2019-03-15 广东工业大学 一种磁性物体和非磁性物体分堆机械臂以及控制方法

Also Published As

Publication number Publication date
FR3012990A1 (fr) 2015-05-15
JP2016536153A (ja) 2016-11-24
EP3068589A1 (fr) 2016-09-21
WO2015071161A1 (fr) 2015-05-21
FR3012990B1 (fr) 2016-03-04

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Legal Events

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AS Assignment

Owner name: COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:COLLEDANI, FREDERIC;PEROCHON, BENOIT;REEL/FRAME:038454/0635

Effective date: 20160211

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION